A fork truck control method and device, electronic equipment and storage medium

Abstract

The embodiment of the application discloses a forklift control method and device, electronic equipment and storage medium, and belongs to the technical field of forklifts. Mainly includes: detecting and acquiring the real-time body inclination angle of the forklift and the real-time ground contact state of the outrigger of the forklift; if the real-time body inclination angle is less than a preset first inclination angle threshold, then the action amplitude of the action component of the forklift is controlled according to the real-time ground contact state of the outrigger and the real-time body inclination angle. The embodiment of the application can automatically and timely ensure that the action amplitude of the forklift corresponds to the balance-keeping ability of the real-time body state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fork trucks, and in particular to a fork truck control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Large fork trucks are all equipped with leveling legs to increase the stability of the vehicle body under extreme working conditions (large angle amplitude, large load lifting, etc.). In different working environments, the body state of the fork truck itself may be limited, including the inclination angle and the real-time ground contact state of the legs. Different body states result in different balancing capabilities of the fork truck, and if the action amplitude of the action component of the fork truck is too large, the fork truck may lose balance. However, in the prior art, there is little research on the relationship between the body state and the action amplitude of the action component of the fork truck. SUMMARY

[0003] The embodiment of the present application provides a fork truck control method, which can maintain the balance and stability of the fork truck during operation and avoid side turning caused by too large action amplitude.

[0004] In a first aspect, the embodiment of the present application provides a fork truck control method, which comprises: detecting and acquiring a real-time body inclination angle of a fork truck and a real-time ground contact state of a leg of the fork truck; and if the real-time body inclination angle is less than a preset first inclination angle threshold, controlling the action amplitude of an action component of the fork truck according to the real-time ground contact state of the leg and the real-time body inclination angle.

[0005] Optionally, the process of controlling the action amplitude of the action component of the fork truck according to the real-time ground contact state of the leg and the real-time body inclination angle comprises:

[0006] controlling the extension and retraction speed of the leg when leveling the fork truck by using the leg according to the real-time ground contact state of the leg and the real-time body inclination angle.

[0007] Optionally, the leg comprises one or more pairs of legs respectively arranged on the left side and the right side of the fork truck in a one-to-one correspondence.

[0008] The process of controlling the extension and retraction speed of the leg when leveling the fork truck by using the leg according to the real-time ground contact state of the leg and the real-time body inclination angle comprises:

[0009] if the real-time ground contact state of all the legs is not in contact with the ground, controlling each leg to extend at a first speed; and

[0010] after all the real-time landing states of the legs are landed, controlling one or more of the legs to extend or retract at a second speed according to the real-time body tilt angle until the real-time body tilt angle is less than a first target angle;

[0011] wherein the second speed is less than the first speed.

[0012] Optionally, the legs include a pair of legs symmetrically arranged on the forklift truck.

[0013] The forklift truck control method further comprises, before controlling one or more of the legs to extend or retract at a second speed according to the real-time body tilt angle,

[0014] acquiring a landing time of each of the legs;

[0015] if the real-time body tilt angle before both of the pair of legs are landed is not less than a preset second tilt angle threshold, determining a low-side leg and a high-side leg in the pair of legs according to the real-time body tilt angle before both of the pair of legs are landed, controlling the low-side leg to extend at a third speed within a preset time period corresponding to the landing time, and controlling the high-side leg to stop extending immediately after the landing time;

[0016] if the real-time body tilt angle before both of the pair of legs are landed is less than the second tilt angle threshold, controlling both of the pair of legs to extend at the third speed within the preset time period corresponding to the landing time;

[0017] the second speed is less than or equal to the third speed, and the third speed is less than the first speed.

[0018] Optionally, the legs include two pairs of legs symmetrically arranged on the forklift truck; and the body tilt angle includes left-right tilt angles and front-rear tilt angles of the forklift truck body.

[0019] the process of controlling one or more of the legs to extend or retract at a second speed according to the real-time body tilt angle until the real-time body tilt angle is less than a first target angle comprises:

[0020] determining a larger tilt angle and a smaller tilt angle in the left-right tilt angles and the front-rear tilt angles;

[0021] firstly controlling one or more of the outriggers to extend or retract at the second speed until the real-time vehicle body inclination angle in the direction of the larger inclination angle is less than the first target angle; and then controlling one or more of the outriggers to extend or retract at the second speed until the real-time vehicle body inclination angle in the direction of the smaller inclination angle is less than the first target angle.

[0022] The extension and retraction speed of the outriggers during leveling can have a greater impact on the balance of the forklift truck, and therefore the extension and retraction speed of the outriggers during leveling under different vehicle body states is controlled correspondingly to ensure the balance of the forklift truck during the operation action.

[0023] Optionally, the process of controlling the action amplitude of the action component of the forklift truck according to the real-time ground contact state of the outriggers and the real-time vehicle body inclination angle comprises:

[0024] The retraction speed of each of the outriggers and / or the retraction sequence of each of the outriggers during the recovery of the outriggers is controlled according to the real-time ground contact state of the outriggers and the real-time vehicle body inclination angle.

[0025] Optionally, the outriggers comprise one or more pairs of outriggers arranged symmetrically left and right on the forklift truck.

[0026] The process of controlling the retraction speed of each of the outriggers and the retraction sequence of each of the outriggers during the recovery of the outriggers according to the real-time ground contact state of the outriggers and the real-time vehicle body inclination angle comprises:

[0027] If the real-time ground contact state of all the outriggers is that the outriggers have contacted the ground, when the real-time vehicle body inclination angle is not less than the second target angle, one or more of the outriggers are controlled to extend or retract at a fourth speed until the real-time vehicle body inclination angle is less than the second target angle, and then all the outriggers are controlled to retract at a fifth speed; when the real-time vehicle body inclination angle is less than the second target angle, all the outriggers are controlled to retract at the fifth speed.

[0028] Otherwise, all the outriggers are controlled to retract at the fifth speed.

[0029] The fourth speed is less than the fifth speed.

[0030] The speed and sequence of retracting each of the outriggers during the recovery of the outriggers can have a greater impact on the balance of the forklift truck, and therefore the extension and retraction speed of the outriggers and / or the sequence of retracting the outriggers during the recovery of the outriggers under different vehicle body states is controlled correspondingly to ensure the balance of the forklift truck during the operation action.

[0031] Optionally, the process of controlling the action amplitude of the action component of the forklift truck according to the real-time ground contact state of the outriggers and the real-time vehicle body inclination angle comprises:

[0032] According to the real-time ground-touching state of the support leg and the real-time body inclination angle, a change range of an angle between the boom and the body of the forklift is limited.

[0033] Optionally, the support leg includes one or more pairs of support legs symmetrically arranged on the forklift; and the body inclination angle includes left and right inclination angles and front and back inclination angles of the body of the forklift.

[0034] The process of limiting the change range of the angle between the boom and the body of the forklift according to the real-time ground-touching state of the support leg and the real-time body inclination angle includes:

[0035] When the real-time ground-touching state of all the support legs is that the support legs have touched the ground, if the left and right inclination angles are not less than a preset third inclination angle threshold, the change range of the angle between the boom and the body is controlled to be not greater than a first angle change threshold; otherwise, the change range of the angle between the boom and the body is controlled to be not greater than a second angle change threshold.

[0036] When the real-time ground-touching state of all or part of the support legs is that the support legs have not touched the ground, if the left and right inclination angles and the front and back inclination angles of the body of the forklift are not less than the third inclination angle threshold, the change range of the angle between the boom and the body is controlled to be not greater than a third angle change threshold; otherwise, the change range of the angle between the boom and the body is controlled to be not greater than a fourth angle change threshold.

[0037] The third angle change threshold is less than the first angle change threshold; the first angle change threshold is less than the fourth angle change threshold; and the fourth angle change threshold is less than the second angle change threshold.

[0038] The change range of the angle between the boom and the body of the forklift has a great influence on the balance of the forklift, so the change range of the boom under different body states needs to be limited to ensure the balance of the forklift during operation.

[0039] Optionally, the forklift control method further includes: if the real-time body inclination angle is not less than the first inclination angle threshold, a corresponding user is prompted.

[0040] When the body inclination angle exceeds a certain degree, the automatic leveling effect is poor, which may be due to forklift failure or unsuitable operation environment. Therefore, the corresponding user needs to be prompted so that the user can intervene in time to avoid accidents.

[0041] In a second aspect, an embodiment of the present application provides a forklift control device, comprising: a detection module configured to detect and acquire a real-time body inclination angle of a forklift and a real-time ground contact state of outriggers of the forklift; and a motion amplitude control module configured to control a motion amplitude of a motion component of the forklift according to the real-time ground contact state of the outriggers and the real-time body inclination angle of the forklift if the real-time body inclination angle is less than a preset first inclination angle threshold.

[0042] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the forklift control method according to any of the embodiments of the present application when executing the program.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium having a computer program stored thereon, and the program is executable on a processor to implement the forklift control method according to any of the embodiments of the present application.

[0044] The forklift control method, device, electronic device, and storage medium provided by the present application can control the motion amplitude of the forklift during operation according to the real-time body inclination angle and the real-time ground contact state, automatically and timely ensure that the motion amplitude of the forklift corresponds to the ability to keep balance according to the real-time body state, avoid excessive motion amplitude leading to imbalance of the body or even rollover, and cause safety accidents and losses. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0046] Figure 1 is a flowchart of the forklift control method provided by an embodiment of the present application;

[0047] Figure 2 is another flowchart of the forklift control method provided by an embodiment of the present application;

[0048] Figure 3 is a structural diagram of the forklift control device provided by an embodiment of the present application;

[0049] Figure 4 is a structural diagram of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0050] The application will be described in further detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are intended for explanation only and are not limiting of the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for the sake of convenience of description.

[0051] Figure 1 A flowchart of a control method of a forklift provided by an embodiment of the application is shown in FIG. 1. The method can be performed by a control method device of a forklift provided by an embodiment of the application, which can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated in an electronic device, such as a forklift on-board electronic device. The following embodiments will be described with the device integrated in a forklift on-board electronic device as an example. Referring to FIG. 1, the method can specifically include the following steps: Figure 1

[0052] In step 101, the real-time body inclination angle of the forklift and the real-time ground contact state of the outrigger of the forklift are detected and acquired. Step 101 can facilitate controlling the action amplitude of the action component of the forklift according to the real-time body inclination angle of the forklift and the real-time ground contact state of the outrigger of the forklift when the real-time body inclination angle meets a condition.

[0053] Specifically, the real-time body inclination angle can be measured and acquired in real time by a body inclination sensor.

[0054] Specifically, the real-time body inclination angle can include the left-right inclination angle of the body of the forklift.

[0055] Specifically, the real-time body inclination angle can include the front-rear inclination angle and the left-right inclination angle of the body of the forklift.

[0056] Specifically, the left-right inclination angle can be acquired by measuring the included angle of the left-right direction of the forklift relative to the horizontal direction by using a body inclination sensor.

[0057] Specifically, the front-rear inclination angle can be acquired by measuring the included angle of the front-rear direction of the forklift relative to the horizontal direction by using a body inclination sensor.

[0058] Specifically, the outrigger includes one or more pairs of outriggers respectively arranged in one-to-one correspondence on the left side and the right side of the forklift. Specifically, the outrigger of the forklift can be a hydraulic leveling outrigger. Therefore, the forklift is more likely to be unbalanced on the left and right sides, so the outrigger needs to be arranged in pairs in correspondence on the left and right sides of the forklift.

[0059] Specifically, the one or more pairs of outriggers can be arranged in axial symmetry or in asymmetry.

[0060] ​Optionally, the process of obtaining the real-time ground-touching state of the outrigger of the forklift truck comprises: detecting the oil cylinder large cavity pressure by using the pressure sensor installed on the outrigger oil cylinder of each hydraulic leveling outrigger; and determining that the outrigger has touched the ground if the oil cylinder large cavity pressure is greater than a preset pressure threshold.

[0061] Specifically, the pressure threshold can be 5 Mbar.

[0062] Specifically, the first inclination angle threshold can be set according to the model, height and outrigger model of the forklift truck and other factors.

[0063] If the real-time vehicle body inclination angle is less than the preset first inclination angle threshold, the action amplitude of the action component of the forklift truck is controlled according to the real-time ground-touching state of the outrigger and the real-time vehicle body inclination angle. When the real-time vehicle body inclination angle meets the condition, the action amplitude of the forklift truck during operation can be controlled according to the real-time vehicle body inclination angle and the real-time ground-touching state, so that the action amplitude of the forklift truck can be timely ensured to correspond to the balance-keeping ability of the real-time vehicle body state, and the action amplitude is prevented from being too large to cause the vehicle body to be unbalanced or even to roll over, thereby causing safety accidents and losses.

[0064] Specifically, the first inclination angle threshold can be 8 degrees.

[0065] In an optional specific embodiment of the present application, the forklift truck control method further comprises: if the real-time vehicle body inclination angle is not less than the first inclination angle threshold, prompting the corresponding user.

[0066] Specifically, when the vehicle body inclination angle exceeds a certain degree, it is possible that the forklift truck is faulty or the operation environment is not suitable, and the automatic leveling effect is poor. Therefore, the corresponding user needs to be prompted so that the user can timely intervene to avoid accidents and hidden dangers.

[0067] Specifically, the process of prompting the user can comprise issuing an audible and visual alarm.

[0068] Optionally, the action component comprises the outrigger and the boom.

[0069] Optionally, the process of controlling the action amplitude of the action component of the forklift truck according to the real-time ground-touching state of the outrigger and the real-time vehicle body inclination angle comprises: controlling the extension and retraction speed of the outrigger when the outrigger is used to level the forklift truck according to the real-time ground-touching state of the outrigger and the real-time vehicle body inclination angle.

[0070] Optionally, the process of controlling the action amplitude of the action component of the forklift according to the real-time ground-touching state of the outrigger and the real-time body inclination angle comprises: controlling the retraction speed of each outrigger and / or the retraction sequence of each outrigger when the outrigger is retracted according to the real-time ground-touching state of the outrigger and the real-time body inclination angle.

[0071] Optionally, the process of controlling the action amplitude of the action component of the forklift according to the real-time ground-touching state of the outrigger and the real-time body inclination angle comprises: limiting the change amplitude of the angle between the boom and the body of the forklift according to the real-time ground-touching state of the outrigger and the real-time body inclination angle.

[0072] Specifically, the action of the outrigger and the boom of the forklift, such as the retraction speed of the outrigger during leveling, the speed and sequence of retracting each outrigger when the outrigger is retracted, and the angle change amplitude of the boom relative to the body during the forklift loading operation, can have a greater impact on the balance of the forklift, so it is necessary to limit the action amplitude of the outrigger and the boom of the forklift under different body states to ensure the balance of the forklift during the operation action.

[0073] The forklift control method provided by the application is further introduced as follows. Figure 2 As shown in the foregoing, the step of controlling the retraction speed of the outrigger when the forklift is leveled by the outrigger according to the real-time ground-touching state of the outrigger and the real-time body inclination angle can comprise the following steps:

[0074] Step 1021, if the real-time ground-touching state of all outriggers is not grounded, then control each outrigger to extend at a first speed.

[0075] Specifically, the extension process of the outrigger can be controlled by an analog handle, and each handle corresponds to control an outrigger.

[0076] In the specific implementation of the application, the main controller can be used to detect whether the outrigger handle is triggered. When the main controller detects that an outrigger handle is triggered, the corresponding outrigger is controlled to extend.

[0077] Step 1022, after the real-time ground-touching state of all outriggers is grounded, control one or more outriggers to extend or retract at a second speed according to the real-time body inclination angle until the real-time body inclination angle is less than a first target angle; wherein the second speed is less than the first speed.

[0078] In the specific implementation of the application, an enable switch can be provided for each outrigger, and when each outrigger stops extending after grounding, the corresponding enable switch is triggered. When the main controller detects that the enable switches of two outriggers are triggered, the leveling mode is entered, that is, one or more outriggers are controlled to extend or retract at a second speed according to the real-time body inclination angle.

[0079] Specifically, the first target angle can be 0.5 degrees, that is, the included angle between the vehicle body and the horizontal direction can be within ±0.5 degrees.

[0080] Specifically, the first speed and the second speed can be set according to the model, height, and other factors of the forklift.

[0081] Specifically, the first speed and the second speed can be set according to the specific working environment.

[0082] Specifically, the first speed can be twice the second speed.

[0083] Specifically, when leveling the forklift by using the outriggers, on the one hand, the outriggers must be extended and retracted at a speed that does not exceed a certain limit to ensure the balance of the forklift body and avoid missing the balance point, and on the other hand, when all the outriggers are in contact with the ground, extending the outriggers at a faster speed can shorten the leveling time and thus the overall working time, thereby improving the working efficiency.

[0084] Optionally, before controlling one or more outriggers to extend or retract at the second speed according to the real-time body inclination angle, the method further comprises: acquiring the ground contact time of each outrigger, if the real-time body inclination angle before all the outriggers are in contact with the ground is not less than a preset second inclination angle threshold, controlling the low-side outriggers to extend at a third speed within a preset time period after the corresponding ground contact time, and controlling the high-side outriggers to stop extending immediately after the corresponding ground contact time; if the real-time body inclination angle before all the outriggers are in contact with the ground is less than the second inclination angle threshold, controlling a pair of outriggers to extend at the third speed within a preset time period after the corresponding ground contact time, the second speed being less than or equal to the third speed, and the third speed being less than the first speed.

[0085] In an optional embodiment of the present application, the outriggers include a pair of outriggers arranged on the left and right sides of the forklift, which can be a pair of symmetrically arranged outriggers.

[0086] In the optional embodiment, before controlling one or more of the legs to extend or retract at the second speed according to the real-time vehicle body inclination angle, the method further comprises: obtaining the ground-touching time of each leg, if the real-time vehicle body inclination angle before both of the legs touch the ground is not less than a preset second inclination angle threshold, determining the low-side leg and the high-side leg of the pair of legs according to the real-time vehicle body inclination angle before both of the legs touch the ground, controlling the low-side leg to extend at a third speed within a preset time period after the corresponding ground-touching time, and controlling the high-side leg to stop extending immediately after the corresponding ground-touching time. If the real-time vehicle body inclination angle before both of the legs touch the ground is less than the second inclination angle threshold, controlling both of the legs to extend at the third speed within the preset time period after the corresponding ground-touching time, the second speed is less than or equal to the third speed, and the third speed is less than the first speed.

[0087] Specifically, the ground-touching time of each leg is the time when each leg touches the ground.

[0088] Specifically, the preset time period can be 1 second.

[0089] Specifically, the second inclination angle threshold can be 4 degrees.

[0090] Specifically, because the tires of the forklift are compressed, the other leg extends at the third speed which is less than the first speed for a certain time period after touching the ground, which can ensure that the tires of the forklift are off the ground. In addition, it is explained that the height difference between the low side of the vehicle body and the high side of the vehicle body is large, so the low-side leg is controlled to extend at the third speed within the preset time period after the corresponding ground-touching time, so as to quickly reduce the height difference between the low side of the vehicle body and the high side of the vehicle body. Conversely, if the vehicle body inclination angle difference is small, it indicates that the height difference between the low side of the vehicle body and the high side of the vehicle body is small, at this time, both legs continue to extend for a certain time period after touching the ground, which can provide sufficient height space for leveling the legs.

[0091] In the optional embodiment of the application, the two pairs of legs are symmetrically arranged on the forklift, and the process of controlling one or more of the legs to extend or retract at the second speed according to the real-time vehicle body inclination angle until the real-time vehicle body inclination angle is less than the first target angle comprises: determining the larger inclination angle and the smaller inclination angle in the left-right inclination angle and the front-rear inclination angle, first controlling one or more of the legs to extend or retract at the second speed until the real-time vehicle body inclination angle in the larger inclination angle direction is less than the first target angle, and then controlling one or more of the legs to extend or retract at the second speed until the real-time vehicle body inclination angle in the smaller inclination angle direction is less than the first target angle.

[0092] Specifically, in the process of leveling the front and rear of the forklift truck and the left and right, if the leveling is performed in the direction of the smaller inclination angle first, the inclination angle in the direction of the larger inclination angle may be further increased in the process, and there is a risk of imbalance. Therefore, the leveling is performed in the direction of the larger inclination angle first, and then the leveling is performed in the direction of the smaller inclination angle.

[0093] In the specific implementation of the present application, when the master controller detects that one pair of front legs or one pair of rear legs or four leg enable switches are triggered, the leveling mode is entered, that is, one or more legs start to extend or retract at the second speed until the real-time body inclination angle in the direction of the larger inclination angle is less than the first target angle.

[0094] The forklift truck control method provided by the present application is further introduced below, that is, the step of controlling the retraction speed of each leg and / or the retraction sequence of each leg when the legs are retracted according to the real-time ground contact state of the legs and the real-time body inclination angle can include: if the real-time ground contact state of all legs is grounded, when the real-time body inclination angle is not less than the second target angle, controlling one or more legs to extend or retract at a fourth speed until the real-time body inclination angle is less than the second target angle, and then controlling all legs to retract at a fifth speed; when the real-time body inclination angle is less than the second target angle, controlling all legs to retract at the fifth speed; otherwise, controlling all legs to retract at the fifth speed; wherein the fourth speed is less than the fifth speed.

[0095] Specifically, the second target angle can be 2 degrees.

[0096] Specifically, if the body inclination angle is too large, simultaneously retracting all legs at a large speed may cause the forklift truck to be unbalanced. Therefore, the body inclination angle needs to be leveled to a smaller value before all legs are simultaneously retracted at a large speed.

[0097] Preferably, when the number of legs is one pair, if the real-time ground contact state of the pair of legs is grounded, when the real-time body inclination angle is not less than the second target angle, the high-side leg is controlled to retract at the fourth speed until the real-time body inclination angle is less than the second target angle, and then the two legs are controlled to retract at the fifth speed.

[0098] Because it is a retraction process, when the body inclination angle is leveled to the second target angle, preferentially shortening the high-side leg not only reduces the leveling of the body inclination angle, but also avoids increasing the leg retraction time.

[0099] The forklift truck control method provided by the present application is further introduced below, that is, the process of limiting the change range of the angle between the boom and the body of the forklift truck according to the real-time ground contact state of the legs and the real-time body inclination angle includes:

[0100] When all outriggers are in real-time ground contact, if the left and right tilt angles are not less than a preset third tilt angle threshold, the change in angle between the boom and the vehicle body is controlled to be no greater than a first angle change threshold; otherwise, the change in angle between the boom and the vehicle body is controlled to be no greater than a second angle change threshold. When all or some outriggers are not in real-time ground contact, if the left and right tilt angles and the front and rear tilt angles of the forklift vehicle body are both not less than a third tilt angle threshold, the change in angle between the boom and the vehicle body is controlled to be no greater than a third angle change threshold; otherwise, the change in angle between the boom and the vehicle body is controlled to be no greater than a fourth angle change threshold. Wherein, the third angle change threshold is less than the first angle change threshold; the first angle change threshold is less than the fourth angle change threshold; and the fourth angle change threshold is less than the second angle change threshold.

[0101] Specifically, the angle between the boom and the vehicle body of the forklift can be detected using a boom angle sensor.

[0102] Specifically, the aforementioned third tilt angle threshold can be 4.5 degrees.

[0103] Specifically, outrigger contact with the ground improves the forklift's ability to avoid potential imbalance caused by changes in the angle between the boom and the forklift body after boom extension during operation. Conversely, a larger lateral tilt angle reduces this ability. Forward and backward tilt angles have a smaller impact. Therefore, when the outriggers are in contact with the ground and the lateral tilt angle is small, the variation in the boom-to-body angle can be controlled within a larger range. Conversely, when the outriggers are not in contact with the ground and the lateral tilt angle is large, the variation in the boom-to-body angle can be controlled within a smaller range. This better ensures the forklift's balance.

[0104] Specifically, the threshold for the third angle change can be 30 degrees, the threshold for the first angle change can be 45 degrees, the threshold for the fourth angle change can be 60 degrees, and the threshold for the second angle change can be 75 degrees.

[0105] Figure 3 This is a structural diagram of a forklift control device provided in an embodiment of the present invention. This device is suitable for executing the forklift control method provided in an embodiment of the present invention. Figure 3 As shown, the device may specifically include:

[0106] The detection module 301 is used to detect and acquire the real-time tilt angle of the forklift and the real-time ground contact state of the forklift's outriggers. Module 301 can facilitate the control of the movement amplitude of the forklift's moving parts based on the real-time tilt angle of the forklift and the real-time ground contact state of the forklift's outriggers when the detected real-time tilt angle meets the conditions.

[0107] The action amplitude control module 302 is configured to control the action amplitude of the action component of the forklift according to the real-time ground contact state of the support legs and the real-time body inclination angle of the forklift if the real-time body inclination angle is less than the preset first inclination angle threshold. The module 302 can control the action amplitude of the forklift during operation according to the real-time body inclination angle and the real-time ground contact state when the real-time body inclination angle meets the condition, and can timely ensure that the action amplitude of the forklift corresponds to the balance-keeping ability of the real-time body state, thereby avoiding excessive action amplitude that may cause the body to be unbalanced or even to overturn, and causing safety accidents and losses.

[0108] Specifically, the support legs include one or more pairs of support legs respectively arranged on the left side and the right side of the forklift.

[0109] Specifically, the body inclination angle can include left and right inclination angles and front and rear inclination angles of the body of the forklift.

[0110] Optionally, the action amplitude control module 302 can be specifically configured to control the extension and retraction speed of the support legs when leveling the forklift by the support legs according to the real-time ground contact state of the support legs and the real-time body inclination angle.

[0111] Optionally, the action amplitude control module 302 can be specifically configured to control each support leg to extend at a first speed if the real-time ground contact state of all support legs is not in contact with the ground, and to control one or more support legs to extend or retract at a second speed according to the real-time body inclination angle after the real-time ground contact state of all support legs is in contact with the ground until the real-time body inclination angle is less than a first target angle, wherein the second speed is less than the first speed.

[0112] Optionally, the action amplitude control module 302 can be specifically configured to obtain the ground contact time of each support leg, and to determine a low-side support leg and a high-side support leg in a pair of support legs according to the real-time body inclination angle before the pair of support legs are not in contact with the ground if the real-time body inclination angle before the pair of support legs are not in contact with the ground is not less than a preset second inclination angle threshold, to control the low-side support leg to extend at a third speed within a preset time period after the corresponding ground contact time, and to control the high-side support leg to stop extending immediately after the corresponding ground contact time, and to control the pair of support legs to extend at the third speed within the preset time period after the corresponding ground contact time if the real-time body inclination angle before the pair of support legs are not in contact with the ground is less than the second inclination angle threshold, wherein the second speed is less than or equal to the third speed, and the third speed is less than the first speed.

[0113] Optionally, the action amplitude control module 302 can be specifically configured to determine the larger inclination angle and the smaller inclination angle from the left and right inclination angles and the front and back inclination angles, first control one or more support legs to extend or retract at the second speed until the real-time body inclination angle in the direction of the larger inclination angle is less than the first target angle, and then control one or more support legs to extend or retract at the second speed until the real-time body inclination angle in the direction of the smaller inclination angle is less than the first target angle.

[0114] Optionally, the action amplitude control module 302 can be specifically configured to control the retraction speed of each support leg and / or the retraction sequence of each support leg according to the real-time ground contact state of the support legs and the real-time body inclination angle.

[0115] Optionally, the action amplitude control module 302 can be specifically configured to, if the real-time ground contact state of all support legs is in contact with the ground, control one or more support legs to extend or retract at a fourth speed until the real-time body inclination angle is less than the second target angle, and then control all support legs to retract at a fifth speed when the real-time body inclination angle is not less than the second target angle, control all support legs to retract at the fifth speed when the real-time body inclination angle is less than the second target angle, or control all support legs to retract at the fifth speed otherwise, wherein the fourth speed is less than the fifth speed.

[0116] Optionally, the action amplitude control module 302 can be specifically configured to limit the change amplitude of the angle between the boom and the body of the forklift truck according to the real-time ground contact state of the support legs and the real-time body inclination angle.

[0117] Optionally, the action amplitude control module 302 can be specifically configured to, when the real-time ground contact state of all support legs is in contact with the ground, control the change amplitude of the angle between the boom and the body of the forklift truck to be not greater than a first angle change threshold if the left and right inclination angles are not less than a preset third inclination angle threshold, or control the change amplitude of the angle between the boom and the body of the forklift truck to be not greater than a second angle change threshold otherwise.

[0118] When the real-time ground contact state of all or part of the support legs is not in contact with the ground, if the left and right inclination angles and the front and back inclination angles of the body of the forklift truck are not less than the third inclination angle threshold, the change amplitude of the angle between the boom and the body of the forklift truck is controlled to be not greater than a third angle change threshold; otherwise, the change amplitude of the angle between the boom and the body of the forklift truck is controlled to be not greater than a fourth angle change threshold.

[0119] Wherein, the third angle change threshold is less than the first angle change threshold; the first angle change threshold is less than the fourth angle change threshold; and the fourth angle change threshold is less than the second angle change threshold.

[0120] Optionally, the forklift truck control device further comprises a prompting module configured to prompt the user if the real-time body inclination angle is not less than the first inclination angle threshold.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. The specific working process of the above described functional modules can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0122] The embodiment of the present application further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the forklift truck control method provided in any of the foregoing embodiments.

[0123] The embodiment of the present application further provides a computer readable medium, which stores a computer program, and the program is executed by a processor to realize the forklift truck control method provided in any of the foregoing embodiments.

[0124] Reference is made below to Figure 4 which shows a structural schematic diagram of a computer system 400 suitable for implementing the electronic device of the embodiment of the present application. Figure 4 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiment of the present application.

[0125] As shown in Figure 4 , the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or programs loaded from a storage portion 408 to a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the system 400 are also stored. The CPU 401, the ROM 402 and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0126] The following components are connected to the I / O interface 405: an input part 406 including a keyboard, a mouse, etc.; an output part 407 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 408 including a hard disk, etc.; and a communication part 409 including a network interface card such as a LAN card, a modem, etc. The communication part 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as necessary. A removable media 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 410 as necessary, so that a computer program read out therefrom is installed in the storage part 408 as necessary.

[0127] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program in accordance with the embodiments disclosed herein. For example, the embodiments disclosed herein include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 409, and / or installed from the removable media 411. When the computer program is executed by the central processing unit (CPU) 401, the above-described functions defined in the system of the present invention are executed.

[0128] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0129] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0130] The modules and / or units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The described modules and / or units can also be arranged in a processor, for example, can be described as: a processor includes a vehicle detection module and an action amplitude control module. In some cases, the names of these modules do not constitute a limitation on the modules themselves.

[0131] As another aspect, the present application also provides a computer readable medium, which can be included in the device described in the above embodiments, or can exist independently without being assembled into the device. The computer readable medium carries one or more programs, when the one or more programs are executed by the device, the device includes: detecting the real-time body tilt angle of the forklift and the real-time ground contact state of the outrigger of the forklift; if the real-time body tilt angle is less than a preset first tilt angle threshold, controlling the action amplitude of the action component of the forklift according to the real-time ground contact state of the outrigger and the real-time body tilt angle.

[0132] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a fork truck, characterized by, The method comprises: detecting a real-time body inclination angle of the forklift truck and a real-time ground contact state of the outrigger of the forklift truck; and if the real-time body inclination angle is less than a preset first inclination angle threshold, controlling the action amplitude of the action component of the forklift truck according to the real-time ground contact state of the outrigger and the real-time body inclination angle; the process of controlling the action amplitude of the action component of the forklift truck according to the real-time ground contact state of the outrigger and the real-time body inclination angle comprises: controlling the extension speed of the outrigger when leveling the forklift truck according to the real-time ground contact state of the outrigger and the real-time body inclination angle; the process of controlling the extension speed of the outrigger when leveling the forklift truck according to the real-time ground contact state of the outrigger and the real-time body inclination angle comprises: if the real-time ground contact state of all the outriggers is not in contact with the ground, controlling each outrigger to extend at a first speed; and after the real-time ground contact state of all the outriggers is in contact with the ground, controlling one or more outriggers to extend or retract at a second speed according to the real-time body inclination angle until the real-time body inclination angle is less than a first target angle, and the second speed is less than the first speed; the outrigger comprises a pair of outriggers arranged symmetrically on the forklift truck; the forklift truck control method further comprises, before controlling one or more outriggers to extend or retract at a second speed according to the real-time body inclination angle, obtaining the ground contact time of each outrigger; if the real-time body inclination angle before the pair of outriggers are not in contact with the ground is not less than a preset second inclination angle threshold, determining the low-side outrigger and the high-side outrigger in the pair of outriggers according to the real-time body inclination angle before the pair of outriggers are not in contact with the ground, controlling the low-side outrigger to extend at a third speed within a preset time period corresponding to the ground contact time, and controlling the high-side outrigger to stop extending immediately after the corresponding ground contact time; if the real-time body inclination angle before the pair of outriggers are not in contact with the ground is less than the second inclination angle threshold, controlling the pair of outriggers to extend at the third speed within a preset time period corresponding to the ground contact time; the second speed is less than or equal to the third speed, and the third speed is less than the first speed.

2. The control method of the fork truck according to claim 1, wherein the process of controlling the action amplitude of the action component of the forklift truck according to the real-time ground contact state of the outrigger and the real-time body inclination angle comprises: controlling the retraction speed of each outrigger and / or the retraction sequence of each outrigger when the outriggers are retracted according to the real-time ground contact state of the outrigger and the real-time body inclination angle.

3. The forklift truck control method according to claim 2, wherein the process of controlling the retraction speed of each outrigger and the retraction sequence of each outrigger when the outriggers are retracted according to the real-time ground contact state of the outrigger and the real-time body inclination angle comprises: If all the real-time ground contact states of the legs are grounded, when the real-time vehicle body inclination angle is not less than a second target angle, controlling one or more of the legs to extend or retract at a fourth speed until the real-time vehicle body inclination angle is less than the second target angle, and then controlling all the legs to retract at a fifth speed; when the real-time vehicle body inclination angle is less than the second target angle, controlling all the legs to retract at the fifth speed; Otherwise, controlling all the legs to retract at the fifth speed; Wherein, the fourth speed is less than the fifth speed.

4. The control method of the fork truck according to claim 1, characterized in that, the process of controlling the action amplitude of the action component of the fork truck according to the real-time ground contact states of the legs and the real-time vehicle body inclination angle comprises: limiting the change amplitude of the angle between the boom and the vehicle body of the fork truck according to the real-time ground contact states of the legs and the real-time vehicle body inclination angle.

5. The control method of the fork truck according to claim 4, characterized in that, the vehicle body inclination angle comprises left and right inclination angles and front and back inclination angles of the vehicle body of the fork truck; the process of limiting the change amplitude of the angle between the boom and the vehicle body of the fork truck according to the real-time ground contact states of the legs and the real-time vehicle body inclination angle comprises: when the real-time ground contact states of all the legs are grounded, if the left and right inclination angles are not less than a preset third inclination angle threshold, controlling the change amplitude of the angle between the boom and the vehicle body to be not greater than a first angle change threshold; otherwise, controlling the change amplitude of the angle between the boom and the vehicle body to be not greater than a second angle change threshold; when the real-time ground contact states of all or part of the legs are ungrounded, if the left and right inclination angles and the front and back inclination angles of the vehicle body of the fork truck are all not less than the third inclination angle threshold, controlling the change amplitude of the angle between the boom and the vehicle body to be not greater than a third angle change threshold; otherwise, controlling the change amplitude of the angle between the boom and the vehicle body to be not greater than a fourth angle change threshold; wherein, the third angle change threshold is less than the first angle change threshold; the first angle change threshold is less than the fourth angle change threshold; and the fourth angle change threshold is less than the second angle change threshold.

6. The control method of the fork truck according to claim 1, wherein Further comprising: if the real-time vehicle body inclination angle is not less than the first inclination angle threshold, prompting a corresponding user.

7. A forklift control device for executing the forklift control method according to any one of claims 1 to 6, characterized by Comprise: a detection module for detecting and acquiring a real-time vehicle body inclination angle of a fork truck and real-time ground contact states of legs of the fork truck; and an action amplitude control module for, if the real-time vehicle body inclination angle is less than a preset first inclination angle threshold, controlling an action amplitude of an action component of the fork truck according to the real-time ground contact states of the legs and the real-time vehicle body inclination angle.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the fork truck control method of any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the fork truck control method of any one of claims 1 to 6. The program is executed by the processor to implement the fork truck control method of any one of claims 1 to 6.

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